/*
 * @Description: 关键帧之间的相对位姿，用于闭环检测
 * @Author: Zhijian Qiao
 * @Date: 2020-02-28 19:13:26
 */
#ifndef avp_slam_SENSOR_DATA_LOOP_POSE_HPP_
#define avp_slam_SENSOR_DATA_LOOP_POSE_HPP_

#include <Eigen/Dense>

namespace avp_slam {
    class LoopPose {
    public:
        double time = 0.0;
        unsigned int index0 = 0;
        unsigned int index1 = 0;
        Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();

    public:
        Eigen::Quaternionf GetQuaternion();
    };
}

#endif